where \(FK(\cdot )\)  denotes the forward kinematic function which converts joint angles into joint positions (though it only applies to the foot joints in eq:5) and the \((i)\)  superscript denotes the frame index.
In the Contact Consistency Loss, \(\mathbf {\hat{b}}^{(i)}\)  is the model's own prediction of the binary foot contact label's portion of the pose at each frame \(i\) .
While this formulation is similar to the foot skate loss terms in previous works [1]}, [2]}, where foot velocity is penalized in frames where the ground truth motion exhibits a static foot contact, our Contact Consistency Loss formulation differs in that it encourages the model to (1) predict foot contact, and (2) maintain consistency with its own predictions.
We find that this formulation significantly improves the realism of generated motions (see par:expphysicalplausibility).
